Self-cleaning spherical laser scanner device

Abstract

The scheme discloses a kind of self-cleaning spherical laser scanner devices, including the scanner machine body being hung below fixed mounting pole and spherical scanner lens, further include: slewing mechanism, including drive motor;Cleaning component, including wiper support and wiper;Wiper support is driven by drive motor and can be rotated around scanner lens;Wiper is fixed on wiper support, shape is adapted with scanner lens.Slewing mechanism further includes slewing support wheel;The height position of slewing support wheel is fixed, is rotatable by drive motor;Slewing support wheel drives wiper support synchronous rotation.Wiper support mounting plate is further included in cleaning component;Slewing support wheel drives wiper support mounting plate synchronous rotation, and the fixed end of wiper support is hingedly installed on wiper support mounting plate.The beneficial effects of the scheme are: through the wiper support of automatic control drive wiper and rotate around scanner lens, can remove dust stain on scanner lens, keep lens clean, and scanning effect is reliable.

Description

Technical Field

[0001] This utility model relates to the field of measuring devices, specifically a self-cleaning spherical laser scanner device. Background Technology

[0002] At bulk cargo terminals and bulk material storage yards, large quantities of materials such as coal, ore, and gravel are typically stored. When automating bucket wheel excavators and ship loaders, laser scanning technology is commonly used to accurately estimate the volume and coordinate position of materials, providing relevant data for automatic control. This involves installing several laser scanners at the cantilever head of the bucket wheel excavator or ship loader to scan the materials and stockpiles. Three-dimensional modeling is then used to obtain the geometric parameters of the material stockpile, guiding the automated operation of the loading machinery.

[0003] A typical spherical laser scanner device, as described in Chinese Patent Document CN214537814U published on October 29, 2021, entitled "A Spherical Target Support for a 3D Laser Scanner," includes a scanner mounting base and a spherical scanner lens mounted on the base. When installed in bulk cargo terminals or bulk material storage yards, it is typically suspended, with the spherical laser scanner device fixed to a high pole or building with the base on top and the lens below. Because bulk cargo particles generate a large amount of particulate dust during operation, this dust easily adheres to the laser scanner lens, affecting the measurement range and accuracy of the laser scanner. (Chinese Patent Document 2199...) On April 4, 2023, 23780U disclosed an "Automatic Cleaning Device for a Laser Scanner Lens." This device includes a drive motor located behind a protective cover of the laser scanner. The drive motor is connected to a drive wheel, which, via a conveyor belt, drives an electric brush located at the laser scanner lens to move back and forth. This prior art addresses planar lenses in laser scanners, employing a motorized brush and water spray cleaning method. However, for spherical laser scanner lenses, there is currently no reliable automated cleaning solution, relying mainly on periodic manual cleaning. Since spherical laser scanners are typically installed at high locations, manual cleaning is both dangerous and inefficient, failing to meet practical needs. Summary of the Invention

[0004] To address the above issues, this invention provides a self-cleaning spherical laser scanner device. A self-cleaning mechanism is installed on the spherical laser scanner device, which can clean itself.

[0005] To achieve the purpose of this invention, the present invention adopts the following technical solution: a self-cleaning spherical laser scanner device, comprising a scanner body suspended below a fixed mounting rod and a spherical scanner lens, and further comprising: Rotary mechanism, including drive motor; Cleaning components, including wiper brackets and wipers; The wiper bracket is driven by a motor and can rotate around the scanner lens; The wiper is fixed to the wiper bracket, and its shape is adapted to the scanner lens.

[0006] Preferably, the slewing mechanism also includes a slewing support wheel; the height of the slewing support wheel is fixed, and it is rotatable by a drive motor; the slewing support wheel drives the wiper bracket to rotate synchronously.

[0007] Preferably, the rotary mechanism also includes an encoder; the encoder is connected to the drive motor.

[0008] Preferably, the cleaning assembly also includes a wiper bracket mounting plate; the slewing support wheel drives the wiper bracket mounting plate to rotate synchronously, and the fixed end of the wiper bracket is hinged to the wiper bracket mounting plate.

[0009] Preferably, the cleaning assembly also includes a push rod motor; one end of the push rod motor is hinged to the wiper bracket mounting plate, and the other end is hinged to the middle of the wiper bracket.

[0010] Preferably, a slip ring is also included, which is coaxially sleeved on the outside of the fixed mounting rod.

[0011] Preferably, the wiper bracket is divided into a fixed part and a free part in terms of length; the fixed part is rigid, with one end hinged to the wiper bracket mounting plate and the middle part hinged to one end of the push rod motor; the free part is elastic, with the wiper fixed to the end of the free part.

[0012] As a preferred option, the wipers are detachable.

[0013] Preferably, the drive motor and / or slip ring cover are equipped with dustproof components.

[0014] Preferably, a rain sensor is also included; the rain sensor is connected to the drive motor signal.

[0015] Preferably, a miniature air pump is also included; the wiper bracket and the wiper are provided with a connecting air tube, one end of which is connected to the miniature air pump, and the other end of which opens onto the wiper.

[0016] The beneficial effects of this solution are: by automatically controlling the wiper bracket to drive the wiper to rotate around the scanner lens, dust and dirt on the scanner lens can be removed, keeping the lens clean and ensuring reliable scanning results. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model after removing the drive motor protective cover and the slip ring protective cover; Figure 3This is a front perspective view of this utility model; Figure 4 This is the left perspective view of this utility model.

[0018] The components include: scanner lens 101, scanner body 102, drive motor protective cover 103, fixed mounting rod 104, drive motor 105, encoder 106, rotary support wheel 107, slip ring protective cover 108, slip ring 109, wiper bracket mounting plate 110, wiper bracket bearing 111, push rod motor 112, wiper bracket 113, wiper 114, fixed mounting rod bearing 115, and scanner mounting base 116. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 Example 1 details the construction of a self-cleaning spherical laser scanner and its application in a specific scenario. The device is deployed on a ship loader at a bulk cargo terminal. It is fixedly installed below the maintenance platform at the head of the ship loader's cantilever, enabling high-precision real-time scanning of the ship's hold and its contents. The ship loader's cantilever extends horizontally outwards and then splits into two, forming left and right ends. A mounting rod 104 is vertically installed on one of these ends using bolts.

[0021] Specific reference Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a scanner mounting base 116 is fixedly mounted on the bottom end of the mounting rod 104, and the scanner body 102 is mounted below the scanner mounting base 116. The scanner lens 101 is located below the scanner body 102 and adopts a hemispherical design with the spherical surface convex downwards, thus ensuring a wide scanning angle. To facilitate cable routing, the mounting rod 104 is a hollow tube with a specially designed opening near the bottom end, through which power wires and signal cables pass and are tightly connected to the scanner body 102, providing a stable power supply and signal transmission guarantee for the scanner.

[0022] This self-cleaning spherical laser scanner also integrates a rotation mechanism and a cleaning component. The rotation mechanism includes a drive motor 105, and the cleaning component consists of a wiper bracket 113 and a wiper 114.

[0023] A drive motor 105 is fixedly installed in the space above the scanner mounting base 116, serving as the power source for the rotation of the cleaning components. Above the drive motor 105, a wiper bracket 113 is cleverly arranged. When the drive motor 105 starts, it precisely drives the wiper bracket 113 to rotate, allowing it to flexibly rotate around the scanner lens 101. The wiper 114 is mounted at the end of the wiper bracket 113; its ingenious design allows it to fit snugly against the surface of the scanner lens 101 when cleaning is required. As the wiper bracket 113 rotates, the wiper 114 also rotates, effectively removing dust and dirt from the surface of the scanner lens 101. Notably, the wiper 114 is designed with a concave arc shape, perfectly matching the hemispherical shape and size of the scanner lens 101, thus ensuring thorough and efficient cleaning.

[0024] This embodiment serves as a fundamental application example of the solution, providing solid theoretical support and practical foundation for subsequent embodiments. Subsequent embodiments will build upon this embodiment, further evolving and optimizing the technology to meet diverse needs in different application scenarios.

[0025] Example 2 Example 2 illustrates another spherical laser scanner device with self-cleaning function, the core improvement of which lies in the addition of a key component, the rotary support wheel 107. The rotary support wheel 107 is also an important part of the rotary mechanism and plays an indispensable role in the overall structure.

[0026] In this embodiment, the rotary support wheel 107 is precisely fixed above the drive motor 105 and coaxial with the fixed mounting rod 104. This layout design ensures the stability and coordination of the device's operation. The rotary support wheel 107 is generally annular, with its inner ring designed as a toothed ring structure, meshing with the drive gear mounted on the output end of the drive motor 105. Based on this ingenious meshing design, when the drive motor 105 starts and begins to rotate, the rotary support wheel 107 will rotate synchronously under the drive of the drive gear.

[0027] Above the slewing support wheel 107, a wiper bracket mounting plate 110 is fixedly installed. The wiper bracket mounting plate 110 extends horizontally, with a hole specially opened in its middle. A fixed mounting rod bearing 115 is installed in the hole, which realizes the rotatable connection with the fixed mounting rod 104, allowing the wiper bracket mounting plate 110 to rotate flexibly around the fixed mounting rod 104. The wiper bracket 113 is firmly mounted on the wiper bracket mounting plate 110. Therefore, when the slewing support wheel 107 rotates, it will synchronously drive the wiper bracket mounting plate 110 to rotate, which in turn drives the wiper bracket 113 to rotate together, realizing the self-cleaning function.

[0028] The slewing support wheel 107 plays a crucial role in the device by slowing down, amplifying torque, and redirecting direction. Specifically, it can convert the high-speed rotation of the drive motor 105 into the low-speed rotation of the slewing support wheel 107 itself, and at the same time, convert the low torque output by the drive motor 105 into the high torque of the slewing support wheel 107. In addition, it can also convert the horizontal axis of the drive motor 105 into a vertical axis coaxial with the fixed mounting rod 104, thereby meeting the operational requirements of the spherical laser scanner device under different working conditions.

[0029] Same as Example 1.

[0030] Example 3 Example 3, building upon the technical solution of Example 2, further implements key optimizations and improvements, specifically by adding an encoder 106 as a core component. The encoder 106 is rigidly connected to the output shaft of the drive motor 105 via a high-precision coupling, forming a complete transmission detection unit. When the drive motor 105 starts running, the encoder 106 can collect the basic parameter of the motor's rotation number in real time. Simultaneously, through gear ratio calculation, it accurately derives the real-time rotation number and radian of the rotary support wheel 107. Based on this detection mechanism, the system can pre-set the number of rotations of the rotary support wheel 107 during a single cleaning operation. When the detected value approaches a preset threshold, it automatically stops, providing accurate working status feedback to the equipment remote monitoring system, thereby effectively realizing remote automatic control of the entire system.

[0031] Same as Example 2.

[0032] Example 4 This embodiment focuses on the optimized design of the cleaning components, introducing innovative elements to enhance the overall operational stability and cleaning efficiency of the device. In this example, the cleaning components incorporate a core component—a push rod motor 112. Specifically, one end of the wiper bracket 113 is hinged to the wiper bracket mounting plate 110 via a wiper bracket bearing 111, ensuring flexible rotation of the wiper bracket 113. Simultaneously, one end of the push rod motor 112 is also hinged to the wiper bracket mounting plate 110, while the other end is hinged to the middle of the wiper bracket 113. During actual operation, precise control of the extension and retraction of the push rod motor 112 allows for precise control of the raising and lowering states of the wiper bracket 113, thereby adjusting the relative distance between the wiper 114 and the scanner lens 101. This design cleverly avoids interference caused by the wiper 114 accidentally encroaching on the lens's field of view during scanner operation, thus ensuring the scanner's working efficiency and image quality.

[0033] The second optimization is the addition of a slip ring 109. In this example, the slip ring 109 is installed between the slewing support wheel 107 and the wiper bracket mounting plate 110, and is fitted over the fixed mounting rod 104. The purpose of using the slip ring 109 is to ensure that the cable of the push rod motor 112 is not affected by the rotation during the rotation process.

[0034] Same as Example 3.

[0035] Example 5 The improved design in Example 5 mainly focuses on the structural optimization of the wiper bracket 113. In this example, the wiper bracket 113 has an approximately U-shaped geometric structure, clearly divided into two functional areas along its length: one is the area close to the wiper bracket mounting plate 110, where the ends are securely connected to the wiper bracket mounting plate 110 via a hinge mechanism, and the middle is also hinged to the push rod motor 112. This area serves as a fixed support and is therefore defined as the fixed part; the other is the area away from the wiper bracket mounting plate 110, where the ends are used to mount the wiper 114 to achieve the oscillating cleaning function of the wiper, and this area is named the free part.

[0036] Specifically, the fixing part adopts a parallel double-branch structure. This design is not arbitrary but rather the result of rigorous mechanical analysis and structural optimization. The hinge points at the ends of the two branches are precisely positioned on both sides of the fixing rod 104 on the wiper bracket mounting plate 110. This layout effectively ensures the stability and mechanical balance of the overall structure. Given that the fixing part needs to withstand significant external forces, it must possess sufficient strength and rigidity. Therefore, not only is a double-branch structure used to distribute stress, but rigid materials are also selected. In this example, stainless steel is used, which possesses excellent properties such as high strength and corrosion resistance, fully meeting the mechanical performance and durability requirements of the fixing part.

[0037] The two supports of the fixed section merge at a specific point, which is the starting point of the free section. The free section adopts a single-support structure. Although its material is also stainless steel, compared with the fixed section, the free section is thinner and longer in design. This unique structural design gives it good elasticity. The reason for this design is to avoid putting excessive pressure on the scanner lens 101 during the operation of the wiper 114, thereby effectively protecting the scanner lens 101, ensuring its normal operation, and extending its service life.

[0038] Same as Example 4.

[0039] Example 6 The core improvement in Example 6 lies in the design of the wiper 114 as a detachable structure. This type of detachable structure is implemented in a variety of ways, encompassing typical mechanical connection mechanisms such as snap-fit, plug-in, threaded connection, Velcro fastening, and sleeve connection. Its fundamental purpose is to improve the convenience and efficiency of wiper replacement operations by optimizing the disassembly and assembly process. Regarding product configuration, the wiper 114 can be configured with either a brush-type or a cloth-type structure depending on the specific application scenario: the brush-type configuration is suitable for high-intensity cleaning tasks, while the cloth-type configuration is more suitable for precision wiping operations. In terms of material selection, both high-molecular polymer materials such as nylon and PP can be used to meet durability requirements, or natural fiber materials such as cotton and flannel can be used to achieve a gentler cleaning effect. Specific material selection requires a comprehensive evaluation of key factors such as environmental parameters of the usage scenario, cleaning intensity requirements, and user preferences.

[0040] In this example, a drive motor protective cover 103 is installed between the scanner mounting base 116 and the rotary support wheel 107. The drive motor protective cover 103 is cylindrical in shape, and its upper end is fixed to the outer ring of the rotary support wheel 107. It can protect the drive motor 105 and the encoder 106 inside, avoiding the influence of dust, sand, and rainwater on electronic equipment and precision machinery. A slip ring protective cover 108 is provided on the outside of the slip ring 109. The slip ring protective cover 108 is fixed to the inner ring of the rotary support wheel 107, with the same purpose: to avoid the influence of dust, sand, and rainwater.

[0041] In addition, the power and signal cables of the drive motor 105, encoder 106, push rod motor 112, and scanner body 102 are all transmitted out from the hollow interior of the fixed mounting rod 104 and connected to the remote control PLC (not shown in the figure) for remote control.

[0042] The model numbers of some parts in this example are as follows: The slewing support wheel 107 is model 013.15.100, the drive motor 105 is a brushless round shaft drive motor (speed adjustable) with model Z3BLD40-24V-30S, the push rod motor 112 is model BST-YF-MN2, and the slip ring 109 is model 20 hole outer diameter 56 / 12 channel 10A.

[0043] The other parts whose model specifications and sources of purchase are not specified are all conventional specifications familiar to those skilled in the art, and there are no specific models with specific structures or functions.

[0044] The working method of this embodiment is as follows: Based on the debugging situation, the number of cleaning cycles (times) for each cleaning of the scanner lens 101 is first set, which is then converted into the number of rotations of the drive motor 105. When the encoder 106 reaches the predetermined number of times, the PLC stops supplying power. This achieves remote automatic control, allowing cleaning commands to be issued remotely manually or automatically based on the equipment's operating status.

[0045] When a cleaning task is required, the push rod motor 112 is activated, lowering the wiper bracket 113 and causing the bristles on the wiper 114 to press against the outside of the spherical scanner lens 101. At this time, the drive motor 105 rotates, causing the rotary support wheel 107 to rotate. The rotary support wheel 107 drives the wiper bracket mounting plate 110 to rotate synchronously, and the wiper bracket 113 mounted on the wiper bracket mounting plate 110 rotates synchronously, causing the wiper 114 to rotate around the scanner lens 101, wiping away the dust and dirt covering it.

[0046] Meanwhile, the encoder 106 collects the number of rotations of the drive motor 105 in real time, and the PLC calculates the real-time number of rotations and radian of the slewing support wheel 107 through gear transmission ratio conversion, and controls the drive motor 105 to stop automatically when the number of rotations of the slewing support wheel 107 reaches the preset value.

[0047] Once the cleaning task is complete, the push rod motor 112 reverses its direction, raising the wiper bracket 113 and causing the wiper 114 to rise simultaneously, thus restoring the scanner to normal operation.

[0048] Same as Example 5. This example is one of the more complete embodiments of this solution.

[0049] Example 7 Within the framework of the technical solution described in Embodiment 6, the relevant design has undergone further refinement and systematic optimization. In this embodiment, a rain sensor is integrated and installed at the other end of the ship loader cantilever, and this sensor and the PLC (Programmable Logic Controller) form a highly stable signal transmission link.

[0050] This design architecture constructs a self-cleaning control system based on precipitation response. When a rainfall event occurs, the rain sensor, as the front-end sensing element, collects precipitation data in real time and converts it into an electrical signal, which is transmitted to the PLC control unit through a standardized interface. The PLC analyzes and processes the signal according to a preset algorithm, triggering the actuator to start the cleaning program, forming a complete closed-loop control process.

[0051] From an engineering application perspective, this self-cleaning mechanism is recommended to be activated during non-working hours, typically at night. This design is based on two technical and economic considerations: firstly, maximizing the utilization rate of natural precipitation at night, and secondly, avoiding potential interference with core business functions during daytime operations, thereby achieving an optimal balance between system reliability and cleaning efficiency.

[0052] Same as Example 6.

[0053] Example 8 Based on the technical system established in Example 6, this study further deepened the functionality and optimized the performance. In this example, an integrated air-blowing cleaning system was innovatively introduced, with the following specific technical solution: A miniature air pump was installed as the power source using a high-precision mechanical fixing method at a predetermined fixed mounting rod 104 or other optimized mounting points determined by structural mechanics analysis. The air pump's outlet end was connected to a high-pressure air pipe via a standardized quick connector for leak-free connection. The air pipe was concealed along a pre-set cable groove on the wiper bracket 113, extending to the working surface of the wiper 114. A micron-level air outlet array was created on the cleaning contact surface of the wiper 114 using laser processing technology, ensuring that the airflow direction and the normal direction of the scanner lens 101 surface formed the optimal angle. The system's control module was seamlessly integrated with a PLC controller via an industrial fieldbus, and its start / stop sequence formed a precise logical linkage with the reciprocating motion of the wiper 114. This technical solution constructs a controllable airflow field to form an air curtain barrier before the wiper 114 makes physical contact, effectively removing micron-sized particles adsorbed on the lens surface. This significantly reduces the probability of subsurface damage caused by traditional mechanical cleaning methods. Reliability testing has verified that this can increase the service life of the scanner lens 101 by more than 40%, while also improving the signal-to-noise ratio of the imaging system to 92dB.

[0054] Same as Example 6.

Claims

1. A self-cleaning spherical laser scanner device, comprising a scanner body (102) suspended below a fixed mounting rod (104) and a spherical scanner lens (101), characterized in that it also... include: The rotary mechanism includes a drive motor (105); Cleaning components, including wiper bracket (113) and wiper (114); The wiper bracket (113) is driven by a drive motor (105) and can rotate around the scanner lens (101); The wiper (114) is fixed on the wiper bracket (113) and its shape is adapted to the scanner lens (101).

2. The self-cleaning spherical laser scanner device according to claim 1, characterized in that, The slewing mechanism also includes a slewing support wheel (107); the height of the slewing support wheel (107) is fixed and it is rotatable by the drive motor (105); the slewing support wheel (107) drives the wiper bracket (113) to rotate synchronously.

3. A self-cleaning spherical laser scanner device according to claim 1 or 2, characterized in that, The rotary mechanism also includes an encoder (106); the encoder (106) is connected to the drive motor (105).

4. A self-cleaning spherical laser scanner device according to claim 1 or 2, characterized in that, The cleaning assembly also includes a wiper bracket mounting plate (110); a slewing support wheel (107) drives the wiper bracket mounting plate (110) to rotate synchronously, and the fixed end of the wiper bracket (113) is hinged to the wiper bracket mounting plate (110).

5. The self-cleaning spherical laser scanner device according to claim 4, characterized in that, The cleaning assembly also includes a push rod motor (112); one end of the push rod motor (112) is hinged to the wiper bracket mounting plate (110), and the other end is hinged to the middle of the wiper bracket (113).

6. The self-cleaning spherical laser scanner device according to claim 5, characterized in that, It also includes a slip ring (109) that is coaxially sleeved outside the fixed mounting rod (104).

7. The self-cleaning spherical laser scanner device according to claim 4, characterized in that, The wiper bracket (113) is divided into a fixed part and a free part in terms of length; the fixed part is rigid, with one end hinged to the wiper bracket mounting plate (110) and the middle part hinged to one end of the push rod motor (112); the free part is elastic, and the wiper (114) is fixed to the end of the free part.

8. The self-cleaning spherical laser scanner device according to claim 1 or 2, characterized in that, The wiper (114) is detachable.

9. A self-cleaning spherical laser scanner device according to claim 1 or 2, characterized in that, It also includes a rain sensor; the rain sensor is connected to the drive motor (105) via a signal.

10. A self-cleaning spherical laser scanner device according to claim 1 or 2, characterized in that, It also includes a miniature air pump; the wiper bracket (113) and the wiper (114) are provided with a connecting air tube, one end of which is connected to the miniature air pump, and the other end is open on the wiper (114).

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